#VRML V2.0 utf8 # # Summary: Autogenerated AUV mission from telemetry data file # 'mission.output.telemetry' dated 10/12/2003 # # Purpose: Playback results of an AUV mission using standalone VRML files # # Author: Don Brutzman # # Generated: 10/12/2003 # # Related: TelemetryPlayback.java, TelemetryState.java, AuvFestExerciseSite.wrl # PhoenixPROTO.wrl, BeamConePrototype.wrl, BeamConeEXAMPLE.wrl, MineTargetRig.wrl # Surface_GulfOfMexico_AuvDiveSite.wrl, Bottom_GulfOfMexico_AuvDiveSite.wrl # # Created by: demo.auv.TelemetryPlayback.java # # URL: http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/TelemetryPlayback.java # http://www.web3D.org/WorkingGroups/vrtp/demo/auv/TelemetryPlayback.java # # Invocation: c:\vrtp\demo\auv> java demo.auv.TelemetryPlayback mission.output.telemetry # #VRML V2.0 utf8 # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # Filename: PhoenixPROTO.wrl # # Purpose: Model the "Phoenix" AUV and expose position, rotation, sonars, # thrusters, fins etc. to the network # # Author: Don Brutzman, Kevin Byrne and Martin Whitfield # # Revised: 30 July 2000 # # Related: BeamConePrototype.wrl # # URL: http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/PhoenixPROTO.wrl # http://www.web3D.org/WorkingGroups/vrtp/demo/auv/PhoenixPROTO.wrl # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - EXTERNPROTO BeamCone [ eventIn SFBool detect # is a target return detected? eventIn SFFloat range # meters along x axis field SFFloat defaultRange # used until eventIn range sent field SFFloat beamHeightDegrees # degrees across y axis field SFFloat beamWidthDegrees # degrees across x axis field SFBool wireframe # wireframe enabled? field SFBool solid # solid cone enabled? field SFColor noDetectionColor field SFColor detectionColor field SFFloat transparency # 1 = fully transparent, wireframe only ] [ "BeamConePROTOoriginal.wrl#BeamCone" "../auv/BeamConePROTOoriginal.wrl#BeamCone" "file:///C|/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" # default PC installation "file:///D|/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" # alternate PC installation "file:///C:/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" # default PC installation "file:///D:/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" # alternate PC installation "http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" "http://www.web3D.org/WorkingGroups/vrtp/demo/auv/BeamConePROTOoriginal.wrl#BeamCone" ] # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - PROTO Phoenix [ eventIn SFVec3f translation eventIn SFRotation rotation eventIn SFFloat portRpm eventIn SFFloat stbdRpm eventIn SFFloat forwardRudders eventIn SFFloat afterRudders eventIn SFFloat forwardPlanes eventIn SFFloat afterPlanes eventIn SFFloat forwardVerticalThruster eventIn SFFloat afterVerticalThruster eventIn SFFloat forwardLateralThruster eventIn SFFloat afterLateralThruster eventIn SFFloat ST725Range # meters along sonar axis eventIn SFFloat ST725Bearing # degrees about vertical axis eventIn SFFloat ST725Intensity # signal-to-noise ratio, decibels eventIn SFFloat ST1000Range # meters along sonar axis eventIn SFFloat ST1000Bearing # degrees about vertical axis eventIn SFFloat ST1000Intensity # signal-to-noise ratio, decibels field SFColor hullColor 0 0 .8 # can be overridden, but at instantiation time only field SFString hullName "Phoenix" # can be overridden, but at instantiation time only ] # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - { Transform { # DEF PHOENIX translation IS translation rotation IS rotation children [ NavigationInfo { type ["EXAMINE" "ANY"] } WorldInfo { title IS hullName } # local viewpoints Viewpoint { position 0 0 4 orientation 0 1 0 0 description IS hullName # hullName is passed in by PROTO instantiation. was "Starboard Beam" } Viewpoint { position 2.8 0 2.8 orientation 0 1 0 .707 description "Starboard Bow" } Viewpoint { position 4 0 0 orientation 0 1 0 1.4 description "Bow" } Viewpoint { position 2.8 0 -2.8 orientation 0 1 0 2.3562 description "Port Bow" } Viewpoint { position 0 0 -4 orientation 0 1 0 3.14159267 description "Port Beam" } Viewpoint { position -2.8 0 -2.8 orientation 0 1 0 3.9270 description "Port Astern" } Viewpoint { position -5 0 0 orientation 0 1 0 -1.4 description "Astern" } Viewpoint { position -2.8 0 2.8 orientation 0 1 0 -.707 description "Astern Starboard" } # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # keep sonars outside of LOD because they are notable at a distance DEF ST725 Transform { translation .9 -.12 -.03 # default rotation 0 1 0 0.0 # rotate about y-axis to steer sonar children [ DEF ST725_BEAMCONE BeamCone { range IS ST725Range defaultRange 0 beamHeightDegrees 24 beamWidthDegrees 1 solid TRUE wireframe FALSE detectionColor 1 0 0 noDetectionColor .3 .05 .05 transparency .2 } ] } DEF ST1000 Transform { translation .7 .12 .05 # default rotation 0 1 0 0.0 # rotate about y-axis to steer sonar children [ DEF ST1000_BEAMCONE BeamCone { range IS ST1000Range defaultRange 0 beamHeightDegrees 1 beamWidthDegrees 1 solid TRUE wireframe FALSE detectionColor 1 .8 0 noDetectionColor .4 .3 .05 transparency .2 } ] } DEF SONAR_STEERING_AND_DETECTS Script { eventIn SFFloat ST725Range IS ST725Range eventIn SFFloat ST725Bearing IS ST725Bearing eventIn SFFloat ST725Intensity IS ST725Intensity eventIn SFFloat ST1000Range IS ST1000Range eventIn SFFloat ST1000Bearing IS ST1000Bearing eventIn SFFloat ST1000Intensity IS ST1000Intensity eventOut SFRotation ST725Rotation eventOut SFRotation ST1000Rotation eventOut SFBool ST725detect eventOut SFBool ST1000detect url "javascript: function ST725Range (value, timeStamp) { if ((value > 0) && (value < 30.0)) ST725detect = TRUE; else ST725detect = FALSE; } function ST725Bearing (value, timeStamp) { ST725Rotation = new SFRotation (0, 1, 0, value); } function ST1000Range (value, timeStamp) { if ((value > 0) && (value < 30.0)) ST1000detect = TRUE; else ST1000detect = FALSE; } function ST1000Bearing (value, timeStamp) { ST1000Rotation = new SFRotation (0, 1, 0, value); } " # trace ('ST725detect = ', ST725detect); # trace ('ST1000detect = ', ST1000detect); } # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - LOD { # high-, medium- and low-resolution range transitions in meters range [ 100 500 ] level [ # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Group { # DEF PRIMARY_AUV_GEOMETRY children [ DEF FORWARD_RUDDERS Transform { translation .6223 0 0 rotation 0 1 0 0.0 # positive rotation about y-axis rotates rudders to port children [ # Forward Upper Rudder Transform { translation 0 .13335 0 children [ DEF PLANE_SHAPE Shape { appearance Appearance { material Material { diffuseColor .3 .2 0 } } geometry IndexedFaceSet { coord Coordinate { point [ .0635 0, -.0127, #0 .0381 .1778 -.0127, #1 -.0381 .1778 -.0127, #2 -.0889 0 -.0127, #3 .0635 0 .0127, #4 .0381 .1778 .0127, #5 -.0381 .1778 .0127, #6 -.0889 0 .0127 #7 ] } coordIndex [ 0, 3, 2, 1, -1, 4, 5, 6, 7, -1, 0, 1, 5, 4, -1, 1, 2, 6, 5, -1, 2, 3, 7, 6, -1, 0, 3, 7, 4, -1 ] creaseAngle 3.14159 # sharp edges } } ] } # Forward Lower Rudder Transform { rotation 1 0 0 3.14159267 translation 0 -.13335 0 children [ USE PLANE_SHAPE ] } ] } DEF AFTER_RUDDERS Transform { translation -.7747 0 0 rotation 0 1 0 0.0 # positive rotation about y-axis rotates rudders to port children [ # Aft Upper Rudder Transform { translation 0 .13335 0 children [ USE PLANE_SHAPE ] } # Aft Lower Rudder Transform { rotation 1 0 0 3.14159267 translation 0 -.13335 0 children [ USE PLANE_SHAPE ] } ] } DEF FORWARD_PLANES Transform { translation .6223 0 0 # default rotation 0 0 1 0.0 # positive rotation about z-axis rotates planes to rise children [ # Forward Starboard Plane Transform { rotation 1 0 0 1.5708 translation 0 0 .20955 children [ USE PLANE_SHAPE ] } # Forward Port Plane Transform { rotation 1 0 0 -1.5708 translation 0 0 -.20955 children [ USE PLANE_SHAPE ] } ] } DEF AFTER_PLANES Transform { translation -.7747 0 0 # default rotation 0 0 1 0.0 # positive rotation about z-axis rotates planes to rise children [ # Aft Starboard Plane Transform { rotation 1 0 0 1.5708 translation 0 0 .20955 children [ USE PLANE_SHAPE ] } # Aft Port Plane Transform { rotation 1 0 0 -1.5708 translation 0 0 -.20955 children [ USE PLANE_SHAPE ] } ] } DEF PLANE_SURFACES Script { eventIn SFFloat forwardRudders IS forwardRudders eventIn SFFloat afterRudders IS afterRudders eventIn SFFloat forwardPlanes IS forwardPlanes eventIn SFFloat afterPlanes IS afterPlanes eventOut SFRotation forwardRuddersRotation eventOut SFRotation afterRuddersRotation eventOut SFRotation forwardPlanesRotation eventOut SFRotation afterPlanesRotation url "javascript: function forwardRudders (value, timeStamp) { forwardRuddersRotation = new SFRotation (0, 1, 0, value); } function afterRudders (value, timeStamp) { afterRuddersRotation = new SFRotation (0, 1, 0, value); } function forwardPlanes (value, timeStamp) { forwardPlanesRotation = new SFRotation (0, 0, 1, value); } function afterPlanes (value, timeStamp) { afterPlanesRotation = new SFRotation (0, 0, 1, value); } " } # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Transform { # DEF FORWARD_VERTICAL_THRUSTER translation .3302 0 0 children [ DEF VERTICAL_THRUSTER_SHAPE Shape { appearance DEF THRUSTER_APPEARANCE Appearance { material Material { diffuseColor .2 .2 .2 } } geometry Cylinder { height .29 radius .0635 side FALSE } } DEF FORWARD_VERTICAL_BEAMCONE Transform { translation 0 .145 0 rotation 0 0 1 1.5708 children [ BeamCone { # range -.5 ..0.. .5 m <==> -24V ..0.. 24V range IS forwardVerticalThruster defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 transparency 0 } ] } ] } Transform { # DEF AFTER_VERTICAL_THRUSTER translation -.4953 0 0 children [ USE VERTICAL_THRUSTER_SHAPE DEF AFTER_VERTICAL_BEAMCONE Transform { translation 0 .145 0 rotation 0 0 1 1.5708 children [ BeamCone { # range -.5 ..0.. .5 m <==> -24V ..0.. 24V range IS afterVerticalThruster defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 transparency 0 } ] } ] } Transform { # DEF FORWARD_LATERAL_THRUSTER rotation 1 0 0 1.5708 translation .4699 0 0 children [ DEF LATERAL_THRUSTER_SHAPE Shape { appearance USE THRUSTER_APPEARANCE geometry Cylinder { height .44 radius .0635 side FALSE } } DEF FORWARD_LATERAL_BEAMCONE Transform { translation 0 .145 0 rotation 0 0 1 1.5708 children [ BeamCone { # range -.5 ..0.. .5 m <==> -24V ..0.. 24V range IS forwardLateralThruster defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 transparency 0 } ] } ] } Transform { # DEF AFTER_LATERAL_THRUSTER rotation 1 0 0 1.5708 translation -.6223 0 0 children [ USE LATERAL_THRUSTER_SHAPE DEF AFTER_LATERAL_BEAMCONE Transform { translation 0 .145 0 rotation 0 0 1 1.5708 children [ BeamCone { # range -.5 ..0.. .5 m <==> -24V .. 0 .. 24V range IS afterLateralThruster defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 transparency 0 } ] } ] } DEF THRUSTER_CONES Script { eventIn SFFloat forwardVerticalThruster IS forwardVerticalThruster eventIn SFFloat afterVerticalThruster IS afterVerticalThruster eventIn SFFloat forwardLateralThruster IS forwardLateralThruster eventIn SFFloat afterLateralThruster IS afterLateralThruster eventOut SFVec3f forwardVerticalThrusterBeamTranslation eventOut SFVec3f afterVerticalThrusterBeamTranslation eventOut SFVec3f forwardLateralThrusterBeamTranslation eventOut SFVec3f afterLateralThrusterBeamTranslation url "javascript: function forwardVerticalThruster (value, timeStamp) { if (value >= 0) { forwardVerticalThrusterBeamTranslation = new SFVec3f ( 0, .145, 0 ); } else { forwardVerticalThrusterBeamTranslation = new SFVec3f ( 0, -.145 + value, 0 ); } } function afterVerticalThruster (value, timeStamp) { if (value >= 0) { afterVerticalThrusterBeamTranslation = new SFVec3f ( 0, .145, 0 ); } else { afterVerticalThrusterBeamTranslation = new SFVec3f ( 0, -.145 + value, 0 ); } } function forwardLateralThruster (value, timeStamp) { if (value >= 0) { forwardLateralThrusterBeamTranslation = new SFVec3f ( 0, .145, 0 ); } else { forwardLateralThrusterBeamTranslation = new SFVec3f ( 0, -.145 + value, 0 ); } } function afterLateralThruster (value, timeStamp) { if (value >= 0) { afterLateralThrusterBeamTranslation = new SFVec3f ( 0, .145, 0 ); } else { afterLateralThrusterBeamTranslation = new SFVec3f ( 0, -.145 + value, 0 ); } } " } # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - # Hull: Bow Cowling Shape { appearance DEF HULL_APPEARANCE Appearance { material Material { diffuseColor IS hullColor } } geometry IndexedFaceSet { coord Coordinate { point [ .6985 .13335 -.20955, #0 Start of Bow Cowling .6985 .13335 .20955, #1 .6985 -.13335 .20955, #2 .6985 -.13335 -.20955, #3 1.05 .085 0, #4 1.05 0 .1143, #5 1.05 -.085 0, #6 1.05 0 -.1143, #7 1.05 .04572 -.098985, #8 1.05 .079188 -.05715, #9 1.05 .079188 .05715, #10 1.05 .04572 .098985, #11 1.05 -.04572 .098985, #12 1.05 -.079188 .05715, #13 1.05 -.079188 -.05715, #14 1.05 -.04572 -.098985, #15 1.1 .04064 .02032, #16 1.1 .02032 .06096, #17 1.1 -.02032 .06096, #18 1.1 -.04064 .02032, #19 1.1 -.04064 -.02032, #20 1.1 -.02032 -.06096, #21 1.1 .02032 -.06096, #22 1.1 .04064 -.02032, #23 1.11 0 0, #24 -.6985 .13335 .20955, #25 Start of Stern Cowling -.6985 .13335 -.20955, #26 -.6985 -.13335 -.20955, #27 -.6985 -.13335 .20955, #28 -1.1303 0 .20955, #29 -1.1303 0 -.20955, #30 -.6985 .13335 .0635, #31 Start of Rudder Post -.8509 .13335 .0635, #32 -.8509 .13335 -.0635, #33 -.6985 .13335 -.0635, #34 -.6985 -.13335 .0635, #35 -.8509 -.13335 .0635, #36 -.8509 -.13335 -.0635, #37 -.6985 -.13335 -.0635, #38 ] } coordIndex [ 0 26 34 33 32 31 25 1 -1 #Hull 1 25 29 28 2 -1 2 28 35 36 37 38 27 3 -1 0 3 27 30 26 -1 0 4 1 -1 #Bow Cowling 0 1 4 -1 1 5 2 -1 1 2 5 -1 2 6 3 -1 2 3 6 -1 3 7 0 -1 3 0 7 -1 7 0 8 -1 7 8 0 -1 8 0 9 -1 8 9 0 -1 9 0 4 -1 9 4 0 -1 4 1 10 -1 4 10 1 -1 10 1 11 -1 10 11 1 -1 11 1 5 -1 11 5 1 -1 5 2 12 -1 5 12 2 -1 12 2 13 -1 12 13 2 -1 13 2 6 -1 13 6 2 -1 6 3 14 -1 6 14 3 -1 14 3 15 -1 14 15 3 -1 15 3 7 -1 15 7 3 -1 4 10 16 -1 10 11 16 -1 11 5 17 -1 5 12 18 -1 12 13 19 -1 13 6 19 -1 6 14 20 -1 14 15 20 -1 15 7 21 -1 7 8 22 -1 8 9 23 -1 9 4 23 -1 4 16 23 -1 11 17 16 -1 5 18 17 -1 12 19 18 -1 6 20 19 -1 20 15 21 -1 21 7 22 -1 22 8 23 -1 23 16 24 -1 16 17 24 -1 17 18 24 -1 18 19 24 -1 19 20 24 -1 20 21 24 -1 21 22 24 -1 22 23 24 -1 26 27 30 -1 #Start of Stern Cowling 25 26 30 29 -1 25 29 28 -1 27 28 29 30 -1 31 32 36 35 -1 #Start of Rudder Post 32 33 37 36 -1 34 38 37 33 -1 ] creaseAngle 2.2 # smooth bow } } # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Transform { # DEF STARBOARD_SCREW_BEAMCONE_AND_SHAFT translation -1.1557 0 .09525 children [ Transform { # DEF STARBOARD_SCREW_BEAMCONE rotation 0 1 0 3.14 children [ BeamCone { range IS stbdRpm # range -1..0..1 m <==> -700..0..700 RPM defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 transparency 0 } ] } DEF SHAFT Group { children [ # Screw shaft Transform { rotation 0 0 1 1.5708 translation .0281 0 0 children [ Shape { # DEF SCREW_SHAFT appearance DEF SCREW_APPEARANCE Appearance { material Material {diffuseColor .226 .197 0} } geometry Cylinder { radius .008 height .0762 top FALSE bottom FALSE } } ] } # Screw shaft end cap Transform { rotation 0 0 1 1.5708 translation -.015 0 0 children [ Shape { # DEF SHAFT_END_CAP appearance USE SCREW_APPEARANCE geometry Cone { bottomRadius .008 height .01 bottom FALSE } } ] } ] } ] } Transform { # DEF STARBOARD_SCREW translation -1.1557 0 .09525 children [ DEF STARBOARD_BLADE Transform { children [ Transform { rotation 0 1 0 -.39 children [ Shape { appearance USE SCREW_APPEARANCE geometry IndexedFaceSet { coord DEF BLADE_COORDINATES Coordinate { point [ 0 0 -.00508, #0 0 .02540 -.02032, #1 0 .04572 -.01524, #2 0 .05080 -.00508, #3 0 .05080 .00508, #4 0 .04572 .01524, #5 0 .02540 .02032 #6 0 0 .00508 #7 ] } coordIndex [ 0 1 2 3 4 5 6 7 -1 0 7 6 5 4 3 2 1 -1 ] } } ] } ] } Transform { rotation 1 0 0 1.5708 children [ USE STARBOARD_BLADE ] } Transform { rotation 1 0 0 3.14159267 children [ USE STARBOARD_BLADE ] } Transform { rotation 1 0 0 -1.5708 children [ USE STARBOARD_BLADE ] } ] } Transform { # DEF PORT_SCREW_BEAMCONE_AND_SHAFT translation -1.1557 0 -.09525 children [ Transform { rotation 0 1 0 3.14 children [ BeamCone { range IS portRpm # range -1..0..1 m <==> -700..0..700 RPM defaultRange 0 beamHeightDegrees 4 beamWidthDegrees 4 solid FALSE wireframe TRUE noDetectionColor 0 .8 .4 # greenish blue for seawater flow transparency 0 } ] } USE SHAFT ] } Transform { # DEF PORT_SCREW translation -1.1557 0 -.09525 children [ DEF PORT_BLADE Group { children [ Transform { rotation 0 1 0 .39 children [ Shape { appearance USE SCREW_APPEARANCE geometry IndexedFaceSet { coord USE BLADE_COORDINATES # this blade has reversed pitch coordIndex [ 0 1 2 3 4 5 6 7 -1 0 7 6 5 4 3 2 1 -1 ] } } ] } ] } Transform { rotation 1 0 0 1.5708 children [ USE PORT_BLADE ] } Transform { rotation 1 0 0 3.14159267 children [ USE PORT_BLADE ] } Transform { rotation 1 0 0 -1.5708 children [ USE PORT_BLADE ] } ] } ] } # end PRIMARY_AUV_GEOMETRY # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Shape { # medium-resolution LOD level appearance USE HULL_APPEARANCE geometry Box { size 2.2 .26 .42 # full length, height, width } } WorldInfo { } # do not draw AUV at all when outside maximum LOD range ] } ] } ROUTE SONAR_STEERING_AND_DETECTS.ST725Rotation TO ST725.rotation ROUTE SONAR_STEERING_AND_DETECTS.ST1000Rotation TO ST1000.rotation ROUTE SONAR_STEERING_AND_DETECTS.ST725detect TO ST725_BEAMCONE.detect ROUTE SONAR_STEERING_AND_DETECTS.ST1000detect TO ST1000_BEAMCONE.detect ROUTE PLANE_SURFACES.forwardRuddersRotation TO FORWARD_RUDDERS.rotation ROUTE PLANE_SURFACES.afterRuddersRotation TO AFTER_RUDDERS.rotation ROUTE PLANE_SURFACES.forwardPlanesRotation TO FORWARD_PLANES.rotation ROUTE PLANE_SURFACES.afterPlanesRotation TO AFTER_PLANES.rotation ROUTE THRUSTER_CONES.forwardVerticalThrusterBeamTranslation TO FORWARD_VERTICAL_BEAMCONE.translation ROUTE THRUSTER_CONES.afterVerticalThrusterBeamTranslation TO AFTER_VERTICAL_BEAMCONE.translation ROUTE THRUSTER_CONES.forwardLateralThrusterBeamTranslation TO FORWARD_LATERAL_BEAMCONE.translation ROUTE THRUSTER_CONES.afterLateralThrusterBeamTranslation TO AFTER_LATERAL_BEAMCONE.translation } # end of PhoenixPROTO.wrl # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Group { children [ Transform { translation 0 1200 0 # high above center rotation 1 0 0 -1.57 # redirect view angle from -z axis to -y axis children [ Viewpoint { description "ONR AUV site - Gulf of Mexico" orientation 0 0 1 -1.57 # north at top of screen } ] } Inline { url [ "AuvFestExerciseSite.wrl" "file:///C|/vrtp/demo/auv/AuvFestExerciseSite.wrl" # default PC installation "file:///D|/vrtp/demo/auv/AuvFestExerciseSite.wrl" # alternate PC installation "http://web.nps.navy.mil/~brutzman/vrtp/demo/auv/AuvFestExerciseSite.wrl" "http://www.web3D.org/WorkingGroups/vrtp/demo/auv/AuvFestExerciseSite.wrl" ] } # duplicate AuvFestExerciseSite.wrl navigation modes since only topmost vrml scene sees it NavigationInfo { type ["EXAMINE" "ANY"] speed 20 # m/sec for FLY | WALK visibilityLimit 20000 # reduce aliasing by increasing relative precision } WorldInfo { title "AUV exercise in Gulf of Mexico 1998" } Background { skyColor [ 1 1 .5, .4 .4 .6, .4 .4 .6, .5 .5 .75, .6 .6 .8, .8 .8 .8 ] skyAngle [ .05 1.4 1.55 1.56 1.57] groundColor [ .05 .1 .2, .05 .1 .2 ] groundAngle [ 1.57 ] } DEF PHOENIX Phoenix { } DEF TELEMETRY_POSITION PositionInterpolator { key [ 0 .03714 .05429 .06571 .07714 .08571 .09429 .10286 .11143 .12000 .12857 .13429 .14000 .14571 .15143 .15714 .16286 .16857 .17429 .18000 .18571 .19143 .19714 .20286 .20857 .21429 .22000 .22571 .23143 .23714 .24286 .24857 .25429 .26000 .26571 .27143 .27714 .28286 .28857 .29429 .30000 .30286 .30571 .30857 .31143 .31429 .31714 .32000 .32286 .32571 .32857 .33143 .33429 .33714 .34000 .34286 .34571 .34857 .35143 .35429 .35714 .36000 .36286 .36571 .36857 .37143 .37429 .37714 .38000 .38286 .38571 .38857 .39143 .39429 .39714 .40000 .40286 .40571 .40857 .41143 .41429 .41714 .42000 .42286 .42571 .42857 .43143 .43429 .43714 .44000 .44286 .44571 .44857 .45143 .45429 .45714 .46000 .46286 .46571 .46857 .47143 .47429 .47714 .48000 .48286 .48571 .48857 .49143 .49429 .49714 .50000 .50286 .50571 .50857 .51143 .51429 .51714 .52000 .52286 .52571 .52857 .53143 .53429 .53714 .54286 .54857 .55429 .56000 .56571 .57143 .57714 .58286 .58857 .59429 .60000 .60571 .61143 .61714 .62286 .62857 .63429 .64000 .64571 .65143 .65714 .66286 .66857 .67429 .68000 .68571 .69143 .69714 .70286 .70857 .71429 .72000 .72571 .73143 .73714 .74286 .74857 .75429 .76000 .76571 .77143 .77714 .78286 .78857 .79429 .80000 .80571 .81143 .81714 .82286 .82857 .83429 .84000 .84571 .85143 .85714 .86286 .86857 .87429 .88000 .88571 .89143 .89714 .90286 .90857 .91429 .92000 .92571 .92857 .93143 .93429 1.00000 ] keyValue [ 5.00 -2.00 5.00, 5.09 -2.06 5.00, 5.19 -2.13 5.01, 5.28 -2.19 5.02, 5.38 -2.25 5.04, 5.47 -2.31 5.05, 5.57 -2.37 5.07, 5.68 -2.42 5.10, 5.79 -2.48 5.13, 5.91 -2.55 5.17, 6.04 -2.61 5.21, 6.13 -2.65 5.25, 6.23 -2.69 5.28, 6.32 -2.73 5.32, 6.42 -2.78 5.36, 6.53 -2.82 5.41, 6.63 -2.86 5.46, 6.74 -2.90 5.51, 6.85 -2.94 5.57, 6.96 -2.98 5.63, 7.08 -3.02 5.69, 7.19 -3.05 5.76, 7.31 -3.09 5.83, 7.43 -3.13 5.90, 7.55 -3.16 5.98, 7.68 -3.20 6.07, 7.80 -3.24 6.15, 7.93 -3.27 6.24, 8.06 -3.31 6.34, 8.18 -3.34 6.44, 8.31 -3.38 6.54, 8.44 -3.41 6.65, 8.57 -3.44 6.76, 8.70 -3.48 6.88, 8.84 -3.51 7.00, 8.97 -3.55 7.12, 9.10 -3.58 7.25, 9.23 -3.61 7.39, 9.36 -3.65 7.52, 9.49 -3.68 7.67, 9.62 -3.72 7.81, 9.69 -3.73 7.89, 9.75 -3.75 7.97, 9.81 -3.77 8.04, 9.88 -3.79 8.12, 9.94 -3.80 8.20, 10.00 -3.82 8.28, 10.07 -3.84 8.36, 10.13 -3.86 8.45, 10.19 -3.87 8.53, 10.25 -3.89 8.62, 10.31 -3.91 8.70, 10.37 -3.93 8.79, 10.42 -3.95 8.88, 10.48 -3.96 8.97, 10.54 -3.98 9.06, 10.59 -4.00 9.16, 10.64 -4.02 9.25, 10.70 -4.04 9.35, 10.75 -4.06 9.44, 10.80 -4.08 9.54, 10.84 -4.10 9.64, 10.89 -4.11 9.74, 10.93 -4.13 9.84, 10.97 -4.15 9.94, 11.01 -4.17 10.05, 11.05 -4.19 10.15, 11.09 -4.21 10.25, 11.12 -4.23 10.36, 11.15 -4.25 10.47, 11.18 -4.27 10.57, 11.21 -4.29 10.68, 11.23 -4.31 10.79, 11.25 -4.33 10.90, 11.27 -4.34 11.01, 11.29 -4.36 11.12, 11.30 -4.38 11.23, 11.31 -4.40 11.34, 11.32 -4.42 11.45, 11.32 -4.44 11.56, 11.33 -4.46 11.68, 11.33 -4.48 11.79, 11.32 -4.50 11.90, 11.32 -4.51 12.01, 11.31 -4.53 12.12, 11.30 -4.55 12.23, 11.28 -4.57 12.34, 11.26 -4.59 12.44, 11.24 -4.61 12.55, 11.22 -4.62 12.66, 11.19 -4.64 12.77, 11.17 -4.66 12.87, 11.14 -4.68 12.98, 11.10 -4.70 13.08, 11.06 -4.71 13.18, 11.03 -4.73 13.28, 10.98 -4.75 13.38, 10.94 -4.76 13.48, 10.89 -4.78 13.57, 10.84 -4.80 13.67, 10.79 -4.82 13.76, 10.74 -4.83 13.85, 10.68 -4.85 13.94, 10.62 -4.87 14.03, 10.56 -4.88 14.12, 10.50 -4.90 14.20, 10.44 -4.92 14.28, 10.37 -4.93 14.36, 10.30 -4.95 14.44, 10.23 -4.97 14.52, 10.16 -4.99 14.59, 10.09 -5.00 14.66, 10.01 -5.02 14.73, 9.94 -5.03 14.80, 9.86 -5.05 14.87, 9.78 -5.07 14.93, 9.70 -5.09 14.99, 9.61 -5.10 15.05, 9.53 -5.12 15.10, 9.45 -5.14 15.15, 9.36 -5.15 15.21, 9.27 -5.17 15.25, 9.19 -5.18 15.30, 9.10 -5.20 15.34, 8.92 -5.23 15.42, 8.73 -5.27 15.49, 8.55 -5.30 15.55, 8.36 -5.33 15.60, 8.17 -5.37 15.63, 7.98 -5.40 15.66, 7.79 -5.43 15.68, 7.61 -5.47 15.69, 7.42 -5.50 15.68, 7.23 -5.53 15.67, 7.05 -5.57 15.65, 6.87 -5.60 15.62, 6.69 -5.64 15.58, 6.51 -5.67 15.53, 6.34 -5.70 15.47, 6.17 -5.74 15.40, 6.00 -5.77 15.33, 5.84 -5.80 15.25, 5.69 -5.84 15.16, 5.54 -5.87 15.06, 5.39 -5.91 14.95, 5.25 -5.94 14.84, 5.12 -5.97 14.73, 4.99 -6.01 14.60, 4.87 -6.04 14.47, 4.75 -6.07 14.34, 4.64 -6.11 14.20, 4.54 -6.14 14.05, 4.45 -6.17 13.90, 4.36 -6.21 13.75, 4.28 -6.24 13.59, 4.21 -6.27 13.43, 4.14 -6.31 13.26, 4.08 -6.34 13.10, 4.03 -6.37 12.93, 3.99 -6.41 12.75, 3.95 -6.44 12.58, 3.93 -6.47 12.40, 3.91 -6.51 12.22, 3.90 -6.54 12.04, 3.89 -6.57 11.86, 3.90 -6.61 11.69, 3.91 -6.64 11.51, 3.93 -6.67 11.32, 3.95 -6.71 11.15, 3.99 -6.74 10.97, 4.03 -6.77 10.79, 4.08 -6.80 10.61, 4.14 -6.84 10.44, 4.20 -6.87 10.27, 4.28 -6.91 10.10, 4.36 -6.94 9.93, 4.44 -6.97 9.77, 4.53 -7.00 9.61, 4.64 -7.04 9.45, 4.74 -7.07 9.30, 4.86 -7.10 9.14, 4.97 -7.14 9.00, 5.10 -7.17 8.85, 5.23 -7.20 8.72, 5.37 -7.24 8.58, 5.51 -7.27 8.45, 5.66 -7.30 8.33, 5.82 -7.34 8.21, 5.98 -7.37 8.10, 6.14 -7.41 7.99, 6.31 -7.44 7.89, 6.48 -7.47 7.80, 6.57 -7.49 7.76, 6.66 -7.51 7.71, 6.75 -7.53 7.67, 6.75 -7.53 7.67 ] } DEF TELEMETRY_ORIENTATION OrientationInterpolator { key [ 0 .06286 .10571 .15143 .20571 .26571 .31714 .34857 .37143 .39143 .40857 .42571 .44286 .46000 .47714 .49429 .51429 .53429 .55429 .57429 .59429 .61429 .63429 .65714 .68000 .70286 .72857 .75429 .78000 .80571 .83429 .86286 .89143 .92000 1.00000 ] keyValue [ 0 1 0 .00000, 0 1 0 -.18469, 0 1 0 -.37008, 0 1 0 -.54531, 0 1 0 -.72211, 0 1 0 -.89940, 0 1 0 -1.07997, 0 1 0 -1.25779, 0 1 0 -1.45067, 0 1 0 -1.65407, 0 1 0 -1.83750, 0 1 0 -2.02252, 0 1 0 -2.20652, 0 1 0 -2.38843, 0 1 0 -2.56787, 0 1 0 -2.74479, 0 1 0 -2.94807, 0 1 0 -3.14826, 0 1 0 -3.34564, 0 1 0 -3.54010, 0 1 0 -3.72909, 0 1 0 -3.91127, 0 1 0 -4.08679, 0 1 0 -4.27977, 0 1 0 -4.46530, 0 1 0 -4.64413, 0 1 0 -4.83818, 0 1 0 -5.02559, 0 1 0 -5.20740, 0 1 0 -5.38457, 0 1 0 -5.57596, 0 1 0 -5.76035, 0 1 0 -5.94039, 0 1 0 -6.12005, 0 1 0 -6.21114 ] } DEF PORT_RPM ScalarInterpolator { key [ 0 .02857 .02857 1.00000 ] keyValue [ .50, .50 1.00, 1.00 ] } DEF STBD_RPM ScalarInterpolator { key [ 0 .02857 .02857 1.00000 ] keyValue [ .50, .50 1.00, 1.00 ] } DEF FORWARD_RUDDERS ScalarInterpolator { key [ 0 .06857 .06857 .07429 .07429 .08000 .08000 .08571 .08571 .09429 .09429 .10286 .10286 .11143 .11143 .12000 .12000 .13143 .13143 .14286 .14286 .15714 .15714 .17429 .17429 .20286 .20286 .27714 .27714 .28857 .28857 .29714 .29714 .30571 .30571 .31143 .31143 .31714 .31714 .32286 .32286 .32571 .32571 .32857 .32857 .33143 .33143 .33429 .33429 .81714 .81714 .83429 .83429 .86000 .86000 1.00000 ] keyValue [ -.39270, -.39270 -.36493, -.36493 -.34362, -.34362 -.32423, -.32423 -.30608, -.30608 -.28177, -.28177 -.25993, -.25993 -.24044, -.24044 -.22272, -.22272 -.20207, -.20207 -.18408, -.18408 -.16509, -.16509 -.14741, -.14741 -.12851, -.12851 -.14696, -.14696 -.16446, -.16446 -.18345, -.18345 -.20881, -.20881 -.23168, -.23168 -.26061, -.26061 -.29672, -.29672 -.31791, -.31791 -.34338, -.34338 -.37111, -.37111 -.39270, -.39270 -.37422, -.37422 -.35566, -.35566 -.33784, -.34095 ] } DEF AFTER_RUDDERS ScalarInterpolator { key [ 0 .06857 .06857 .07429 .07429 .08000 .08000 .08571 .08571 .09429 .09429 .10286 .10286 .11143 .11143 .12000 .12000 .13143 .13143 .14286 .14286 .15714 .15714 .17429 .17429 .20286 .20286 .27714 .27714 .28857 .28857 .29714 .29714 .30571 .30571 .31143 .31143 .31714 .31714 .32286 .32286 .32571 .32571 .32857 .32857 .33143 .33143 .33429 .33429 .81714 .81714 .83429 .83429 .86000 .86000 1.00000 ] keyValue [ .39270, .39270 .36493, .36493 .34362, .34362 .32423, .32423 .30608, .30608 .28177, .28177 .25993, .25993 .24044, .24044 .22272, .22272 .20207, .20207 .18408, .18408 .16509, .16509 .14741, .14741 .12851, .12851 .14696, .14696 .16446, .16446 .18345, .18345 .20881, .20881 .23168, .23168 .26061, .26061 .29672, .29672 .31791, .31791 .34338, .34338 .37111, .37111 .39270, .39270 .37422, .37422 .35566, .35566 .33784, .34095 ] } DEF FORWARD_PLANES ScalarInterpolator { key [ 0 .01143 .01143 1.00000 ] keyValue [ -.43633, -.43633 -.08727, -.08727 ] } DEF AFTER_PLANES ScalarInterpolator { key [ 0 .01143 .01143 1.00000 ] keyValue [ .43633, .43633 .08727, .08727 ] } DEF ST725BEARING ScalarInterpolator { key [ 0 1.00000 ] keyValue [ .00000, .00000 ] } DEF ST725RANGE ScalarInterpolator { key [ 0 .93714 1.00000 ] keyValue [ 20.00000, .00000, .00000 ] } DEF ST1000BEARING ScalarInterpolator { key [ 0 .00571 .01143 .01714 .02286 .02857 .03429 .04000 .04571 .05143 .05714 .06286 .06857 .07429 .08000 .08571 .09143 .09714 .10286 .10857 .11429 .12000 .12571 .13143 .13714 .14286 .14857 .15429 .16000 .16571 .17143 .17714 .18286 .18857 .19143 .19714 .20286 .20857 .21429 .22000 .22571 .23143 .23714 .24857 .25429 .26000 .26571 .27143 .27714 .28286 .28857 .29143 .29714 .30286 .30857 .31429 .32000 .32571 .33143 .33714 .34286 .34857 .35429 .36000 .36571 .37143 .37714 .38286 .38571 .39143 .39714 .40286 .40857 .41429 .42000 .42571 .43143 .44286 .44857 .45429 .46000 .46571 .47143 .47714 .48286 .48571 .49143 .49714 .50286 .50857 .51429 .52000 .52571 .53143 .53714 .54286 .54857 .55429 .56000 .56571 .57143 .57714 .58000 .58571 .59143 .59714 .60286 .60857 .61429 .62000 .62571 .63714 .64286 .64857 .65429 .66000 .66571 .67143 .67714 .68000 .68571 .69143 .69714 .70286 .70857 .71429 .72000 .72571 .73143 .73714 .74286 .74857 .75429 .76000 .76571 .77143 .77429 .78000 .78571 .79143 .79714 .80286 .80857 .81429 .82000 .83143 .83714 .84286 .84857 .85429 .86000 .86571 .87143 .87429 .88000 .88571 .89143 .89714 .90286 .90857 .91429 .92000 .92571 .93143 1.00000 ] keyValue [ .01571, .04712, .07854, .10996, .14137, .17279, .20420, .23562, .26704, .23562, .20420, .17279, .14137, .10996, .07854, .04712, .01571, 6.26748, 6.23606, 6.20465, 6.17323, 6.14181, 6.11040, 6.07898, 6.04757, 6.01615, 6.04757, 6.07898, 6.11040, 6.14181, 6.17323, 6.20465, 6.23606, 6.26748, .00000, .03142, .06283, .09425, .12566, .15708, .18850, .21991, .25133, .21991, .18850, .15708, .12566, .09425, .06283, .03142, .00000, 6.26748, 6.23606, 6.20465, 6.17323, 6.14181, 6.11040, 6.07898, 6.04757, 6.01615, 6.04757, 6.07898, 6.11040, 6.14181, 6.17323, 6.20465, 6.23606, 6.26748, .00000, .03142, .06283, .09425, .12566, .15708, .18850, .21991, .25133, .21991, .18850, .15708, .12566, .09425, .06283, .03142, .00000, 6.26748, 6.23606, 6.20465, 6.17323, 6.14181, 6.11040, 6.07898, 6.04757, 6.01615, 6.04757, 6.07898, 6.11040, 6.14181, 6.17323, 6.20465, 6.23606, 6.26748, .00000, .03142, .06283, .09425, .12566, .15708, .18850, .21991, .25133, .21991, .18850, .15708, .12566, .09425, .06283, .03142, .00000, 6.26748, 6.23606, 6.20465, 6.17323, 6.14181, 6.11040, 6.07898, 6.04757, 6.01615, 6.04757, 6.07898, 6.11040, 6.14181, 6.17323, 6.20465, 6.23606, 6.26748, .00000, .03142, .06283, .09425, .12566, .15708, .18850, .21991, .25133, .21991, .18850, .15708, .12566, .09425, .06283, .03142, .00000, 6.26748, 6.23606, 6.20465, 6.17323, 6.14181, 6.11040, 6.07898, 6.04757, 6.01615, 6.04757, 6.07898, 6.09469 ] } DEF ST1000RANGE ScalarInterpolator { key [ 0 .93714 1.00000 ] keyValue [ 20.00000, .00000, .00000 ] } DEF FORWARD_VERTICAL_THRUSTER ScalarInterpolator { key [ 0 1.00000 ] keyValue [ .50, .50 ] } DEF AFTER_VERTICAL_THRUSTER ScalarInterpolator { key [ 0 1.00000 ] keyValue [ .50, .50 ] } DEF FORWARD_LATERAL_THRUSTER ScalarInterpolator { key [ 0 .01714 .01714 .02286 .02286 .02857 .02857 .03429 .03429 .04000 .04000 .04571 .04571 .05143 .05143 .06000 .06000 .06857 .06857 .07714 .07714 .08857 .08857 .10000 .10000 .11143 .11143 .12571 .12571 .14000 .14000 .15714 .15714 .17714 .17714 .20857 .20857 .26286 .26286 .28000 .28000 .29429 .29429 .30571 .30571 .31429 .31429 .32286 .32286 .32857 .32857 .33429 .33429 .34000 .34000 .34571 .34571 .34857 .34857 .35143 .35143 .35429 .35429 .35714 .35714 .36000 .36000 .58857 .58857 .60857 .60857 .62857 .62857 .64857 .64857 .66857 .66857 .68857 .68857 .70857 .70857 .72857 .72857 .74857 .74857 .76857 .76857 .78857 .78857 .80857 .80857 .83714 .83714 1.00000 ] keyValue [ -.50, -.47 -.47, -.44 -.44, -.41 -.41, -.39 -.39, -.36 -.36, -.34 -.34, -.32 -.32, -.29 -.29, -.27 -.27, -.24 -.24, -.22 -.22, -.19 -.19, -.17 -.17, -.15 -.15, -.13 -.13, -.11 -.11, -.08 -.08, -.06 -.06, -.08 -.08, -.11 -.11, -.13 -.13, -.16 -.16, -.18 -.18, -.21 -.21, -.24 -.24, -.27 -.27, -.30 -.30, -.35 -.35, -.37 -.37, -.40 -.40, -.43 -.43, -.46 -.46, -.48 -.48, -.46 -.46, -.44 -.44, -.41 -.41, -.39 -.39, -.37 -.37, -.35 -.35, -.33 -.33, -.30 -.30, -.28 -.28, -.26 -.26, -.24 -.24, -.21 -.21, -.19 -.19, -.19 ] } DEF AFTER_LATERAL_THRUSTER ScalarInterpolator { key [ 0 .01714 .01714 .02286 .02286 .02857 .02857 .03429 .03429 .04000 .04000 .04571 .04571 .05143 .05143 .06000 .06000 .06857 .06857 .07714 .07714 .08857 .08857 .10000 .10000 .11143 .11143 .12571 .12571 .14000 .14000 .15714 .15714 .17714 .17714 .20857 .20857 .26286 .26286 .28000 .28000 .29429 .29429 .30571 .30571 .31429 .31429 .32286 .32286 .32857 .32857 .33429 .33429 .34000 .34000 .34571 .34571 .34857 .34857 .35143 .35143 .35429 .35429 .35714 .35714 .36000 .36000 .58857 .58857 .60857 .60857 .62857 .62857 .64857 .64857 .66857 .66857 .68857 .68857 .70857 .70857 .72857 .72857 .74857 .74857 .76857 .76857 .78857 .78857 .80857 .80857 .83714 .83714 1.00000 ] keyValue [ .50, .47 .47, .44 .44, .41 .41, .39 .39, .36 .36, .34 .34, .32 .32, .29 .29, .27 .27, .24 .24, .22 .22, .19 .19, .17 .17, .15 .15, .13 .13, .11 .11, .08 .08, .06 .06, .08 .08, .11 .11, .13 .13, .16 .16, .18 .18, .21 .21, .24 .24, .27 .27, .30 .30, .35 .35, .37 .37, .40 .40, .43 .43, .46 .46, .48 .48, .46 .46, .44 .44, .41 .41, .39 .39, .37 .37, .35 .35, .33 .33, .30 .30, .28 .28, .26 .26, .24 .24, .21 .21, .19 .19, .19 ] } DEF MISSION_TIMESENSOR TimeSensor { cycleInterval 35.00000 # seconds loop TRUE } ] ROUTE MISSION_TIMESENSOR.fraction_changed TO TELEMETRY_POSITION.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO TELEMETRY_ORIENTATION.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO PORT_RPM.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO STBD_RPM.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO FORWARD_RUDDERS.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO AFTER_RUDDERS.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO FORWARD_PLANES.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO AFTER_PLANES.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO ST725BEARING.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO ST725RANGE.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO ST1000BEARING.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO ST1000RANGE.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO FORWARD_VERTICAL_THRUSTER.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO AFTER_VERTICAL_THRUSTER.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO FORWARD_LATERAL_THRUSTER.set_fraction ROUTE MISSION_TIMESENSOR.fraction_changed TO AFTER_LATERAL_THRUSTER.set_fraction ROUTE TELEMETRY_POSITION.value_changed TO PHOENIX.translation ROUTE TELEMETRY_ORIENTATION.value_changed TO PHOENIX.rotation ROUTE PORT_RPM.value_changed TO PHOENIX.portRpm ROUTE STBD_RPM.value_changed TO PHOENIX.stbdRpm ROUTE FORWARD_RUDDERS.value_changed TO PHOENIX.forwardRudders ROUTE AFTER_RUDDERS.value_changed TO PHOENIX.afterRudders ROUTE FORWARD_PLANES.value_changed TO PHOENIX.forwardPlanes ROUTE AFTER_PLANES.value_changed TO PHOENIX.afterPlanes ROUTE ST725BEARING.value_changed TO PHOENIX.ST725Bearing ROUTE ST725RANGE.value_changed TO PHOENIX.ST725Range ROUTE ST1000BEARING.value_changed TO PHOENIX.ST1000Bearing ROUTE ST1000RANGE.value_changed TO PHOENIX.ST1000Range ROUTE FORWARD_VERTICAL_THRUSTER.value_changed TO PHOENIX.forwardVerticalThruster ROUTE AFTER_VERTICAL_THRUSTER.value_changed TO PHOENIX.afterVerticalThruster ROUTE FORWARD_LATERAL_THRUSTER.value_changed TO PHOENIX.forwardLateralThruster ROUTE AFTER_LATERAL_THRUSTER.value_changed TO PHOENIX.afterLateralThruster }